missed a step

beneisner · beneisner · commit 634f5b617eaa · 2024-05-21T01:36:41.000-04:00
diff --git a/src/rpad/rlbench_utils/placement_dataset.py b/src/rpad/rlbench_utils/placement_dataset.py
@@ -199,7 +199,7 @@ def get_anchor_points(
     if use_from_simulator:
         handle_mapping = {
             name: sim.simGetObjectHandle(name)
-            for name in BACKGROUND_NAMES + ROBOT_NONGRIPPER_NAMES
+            for name in BACKGROUND_NAMES + ROBOT_NONGRIPPER_NAMES + GRIPPER_OBJ_NAMES
         }
 
     if anchor_mode == AnchorMode.RAW:

Original file line number	Diff line number	Diff line change
`@@ -199,7 +199,7 @@ def get_anchor_points(`
`199`	`199`	`if use_from_simulator:`
`200`	`200`	`handle_mapping = {`
`201`	`201`	`name: sim.simGetObjectHandle(name)`
`202`		`- for name in BACKGROUND_NAMES + ROBOT_NONGRIPPER_NAMES`
	`202`	`+ for name in BACKGROUND_NAMES + ROBOT_NONGRIPPER_NAMES + GRIPPER_OBJ_NAMES`
`203`	`203`	`}`
`204`	`204`
`205`	`205`	`if anchor_mode == AnchorMode.RAW:`